HIGHLEVEL = 0x00
LOWLEVEL  = 0xff
PosStopF = (2.146E+9)
VelStopF = (16000.0)

FR_ = 0       # leg index
FL_ = 1
RR_ = 2
RL_ = 3

FR_0 = 0      # joint index
FR_1 = 1      
FR_2 = 2

FL_0 = 3
FL_1 = 4
FL_2 = 5

RR_0 = 6
RR_1 = 7
RR_2 = 8

RL_0 = 9
RL_1 = 10
RL_2 = 11

# calibration 漂移修正
calibration_forwardspeed = 0
calibration_sidespeed = -0.08
calibration_rotatespeed = 0.003